US20200049519A1 - Autonomous valet service apparatus and method - Google Patents

Autonomous valet service apparatus and method Download PDF

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Publication number
US20200049519A1
US20200049519A1 US16/170,339 US201816170339A US2020049519A1 US 20200049519 A1 US20200049519 A1 US 20200049519A1 US 201816170339 A US201816170339 A US 201816170339A US 2020049519 A1 US2020049519 A1 US 2020049519A1
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Prior art keywords
vehicle
location
processor
valet service
waiting track
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Abandoned
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US16/170,339
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English (en)
Inventor
Seo Hyun Yoon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hyundai Motor Co
Kia Corp
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Hyundai Motor Co
Kia Motors Corp
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Assigned to KIA MOTORS CORPORATION, HYUNDAI MOTOR COMPANY reassignment KIA MOTORS CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: YOON, SEO HYUN
Publication of US20200049519A1 publication Critical patent/US20200049519A1/en
Abandoned legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3438—Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06018—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding
    • G06K19/06028—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding using bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06037—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking multi-dimensional coding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental

Definitions

  • the present disclosure relates to an autonomous valet service apparatus for autonomous driving, and a method thereof.
  • the parking lot is narrow compared with the number of vehicles visiting department stores, sightseeing spots, shopping malls, government offices and the like, it takes a lot of time to enter a parking lot and to find a parking space. Also, a driver may have difficulty in parking due to the many vehicles.
  • An aspect of the present disclosure provides an autonomous valet service apparatus for autonomously driving by setting a waiting track until a driver returns to the vehicle in a state where a parking space is insufficient, and a method thereof.
  • an autonomous valet service method includes: starting, by a processor, an autonomous valet service of a vehicle; setting, by the processor, a waiting track for the autonomous valet service; and performing, by the processor, autonomous driving of the vehicle in the waiting track.
  • the setting the waiting track includes: setting a unit time, obtaining a current location of the vehicle, generating at least one circulation route in each of which the current location of the vehicle is a start point or a destination, and selecting one circulation route of the at least one circulation route based on the unit time.
  • the setting the waiting track includes obtaining information of the waiting track from map data based on a current location of the vehicle.
  • the setting the waiting track includes downloading information of the waiting track through scanning a Quick Response (QR) code or a barcode.
  • QR Quick Response
  • the performing the autonomous driving of the vehicle includes measuring a current location of the vehicle in real time, and transmitting the current location to a user terminal.
  • the performing the autonomous driving of the vehicle includes determining whether a call is received from the user terminal.
  • the method further includes: obtaining a vehicle location in the waiting track based on the call from the user terminal, calculating a movement time from the vehicle location to a pickup location, transmitting an expected time to arrive at the pickup location based on the calculated movement time, and moving to the pickup location.
  • the pickup location is implemented with a location designated by the user terminal.
  • the pickup location is implemented with the current location of the user terminal.
  • the pickup location is implemented with an exit location of the waiting track.
  • an autonomous valet service apparatus includes: a user input device to activate an autonomous valet service, a vehicle controller controlling autonomous driving of a vehicle, and a processor.
  • the processor is configured to start the autonomous valet service based on an input from the user input device, to set a waiting track for the autonomous valet service, and to control the vehicle controller to perform the autonomous driving of the vehicle in the waiting track.
  • the autonomous valet service apparatus further includes a location measurement device measuring a vehicle location.
  • the processor is configured to generates at least one circulation route, in each of which the vehicle location is a start point or a destination and to select one circulation route of the at least one circulation route as the waiting track based on a preset unit time.
  • the at least one circulation route comprises a plurality of circulation routes
  • the processor is configured to determine a circulation route of the plurality of circulation routes as the waiting track when a time for the vehicle to move along the circulation route is the most similar to the preset unit time.
  • the autonomous valet service apparatus further includes a memory storing map data.
  • the processor is configured to obtain information of the waiting track from the map data.
  • the processor is configured to obtain information of the waiting track through scanning a Quick Response (QR) code or a barcode.
  • QR Quick Response
  • the autonomous valet service apparatus further includes a communication device performing wireless communication with a user terminal.
  • the processor is configured to measure in real time a current location of the vehicle under the autonomous driving in the waiting track and to transmit the current location to the user terminal.
  • the processor is configured to calculate a movement time from the current location of the vehicle to a pickup location based on a call from the user terminal and to transmit an expected time to arrive at the pickup location based on the calculated movement time, to the user terminal.
  • FIG. 1 is a block diagram illustrating an autonomous valet service system
  • FIG. 2 is a block diagram of an autonomous valet service apparatus
  • FIG. 3 is a diagram for describing a procedure of setting a waiting track
  • FIG. 4 is a flowchart illustrating an autonomous valet service method
  • FIG. 5 is a flowchart illustrating a procedure of setting a waiting track illustrated in FIG. 4 .
  • FIG. 1 is a diagram illustrating an autonomous valet service system in one form of the present disclosure.
  • the autonomous valet service system includes an autonomous valet service apparatus 100 , a user terminal 200 , and a control server 300 .
  • the autonomous valet service apparatus 100 may be a device that is mounted in a vehicle and supports an autonomous valet service.
  • the autonomous valet service moves a vehicle to a specified place (location) to pick up a user when there is a call from the user while the vehicle stands by in a state where the vehicle performs autonomous driving on a predetermined driving path (route).
  • the user terminal 200 performs data communication with the autonomous valet service apparatus 100 wirelessly.
  • the user terminal 200 may exchange data with the autonomous valet service apparatus 100 through an app installed in a terminal.
  • the user terminal 200 may transmit a vehicle call signal to the autonomous valet service apparatus 100 and may receive vehicle location information from the autonomous valet service apparatus 100 .
  • the user terminal 200 includes a communication module, a user input module, an output module, a Global Positioning System (GPS) receiver, a processor, and a memory.
  • GPS Global Positioning System
  • the user terminal 200 may be implemented with a smartphone, a tablet, a Personal Digital Assistant (PDA), and/or a notebook computer.
  • PDA Personal Digital Assistant
  • the control server 300 exchanges data with the autonomous valet service apparatus 100 and the user terminal 200 over wireless communication.
  • the control server 300 manages information about a waiting track for an autonomous valet service and a state associated with the waiting track.
  • the control server 300 manages track information such as the shape of a waiting track, a driving direction, an entrance location, an exit location, and the like and state information such as the degree of congestion in the waiting track, whether a parking lot is full, and the like.
  • FIG. 2 illustrates a block diagram of an autonomous valet service apparatus, in one form of the present disclosure.
  • FIG. 3 is a diagram for describing a procedure of setting a waiting track associated with the present disclosure.
  • the autonomous valet service apparatus 100 includes a communication device 110 , a location measurement device 120 , a detector 130 , a user input device 140 , a memory 150 , a vehicle controller 160 , an output device 170 , and a processor 180 .
  • the communication device 110 wirelessly communicates with the user terminal 200 and/or the control server 300 .
  • a wireless Internet technology such as Wireless LAN (WLAN) (Wi-Fi), Wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), and the like, a short range communication technology such as Bluetooth, Near Field Communication (NFC), Radio Frequency Identification (RFID), infrared Data Association (IrDA), Ultra-Wideband (UWB), ZigBee, and the like, and/or a mobile communication technology such as Code Division Multiple Access (CDMA), Global System for Mobile communication (GSM), Long Term Evolution (LTE), LTE-Advanced, and the like may be used as a wireless communication technology.
  • CDMA Code Division Multiple Access
  • GSM Global System for Mobile communication
  • LTE Long Term Evolution
  • LTE-Advanced LTE-Advanced
  • the location measurement device 120 measures the current location of a vehicle.
  • the location measurement device 120 may be implemented with a Global Positioning System (GPS) module.
  • GPS Global Positioning System
  • the GPS receiver 120 calculates the current location of the vehicle by using signals transmitted from three or more GPS satellites.
  • the GPS receiver 120 calculates the distance between a satellite and the GPS receiver 120 using the time difference between the time of transmitting a signal from the satellite and the time of receiving the signal from the GPS receiver 120 .
  • the GPS receiver 120 calculates the current location of the vehicle by using information about the calculated distance between a satellite and the GPS receiver 120 and information about a location of the satellite included in the transmitted signal. At this time, the GPS receiver 120 calculates the current location using a triangulation method.
  • the detector 130 obtains vehicle peripheral information through one or more sensors mounted in the vehicle.
  • vehicle peripheral information such as an image at a periphery of the vehicle, the distance between the vehicle and a rear vehicle, the relative speed of the rear vehicle, a forward vehicle, an obstacle, and/or a traffic light, through an image sensor, Radio Detecting And Ranging (radar), Light Detection And Ranging (LiDAR), and/or an ultrasonic sensor.
  • radar Radio Detecting And Ranging
  • LiDAR Light Detection And Ranging
  • ultrasonic sensor an ultrasonic sensor.
  • the image sensor obtains an image (e.g., a front view image, a rear view image, and a side view image) at a periphery of the vehicle.
  • the image sensor may be implemented with at least one or more image sensors among image sensors such as a charge coupled device (CCD) image sensor image sensor, a complementary metal oxide semi-conductor (CMOS) image sensor, a charge priming device (CPD) image sensor, a charge injection device (CID) image sensor, and the like.
  • CCD charge coupled device
  • CMOS complementary metal oxide semi-conductor
  • CID charge injection device
  • the radar measures a distance between the vehicle and a surrounding object.
  • the radar may emit electromagnetic waves to the surrounding object, may receive electromagnetic waves reflected from the surrounding object, and may verify the distance from the surrounding object, the direction of the surrounding object, and the altitude of the surrounding object.
  • the LiDAR measures a distance between a vehicle and a surrounding object.
  • the LiDAR may calculate the spatial location coordinates of the reflection point by scanning a laser pulse to measure the arrival time of the laser pulse reflected from the surrounding object, and thus may verify the distance from the surrounding object and the shape of the surrounding object.
  • the ultrasonic sensor generates ultrasonic waves to detect surrounding objects and measures the distance between the vehicle and a surrounding object.
  • the detector 130 obtains vehicle information from one or more sensors and/or electric control units (ECUs), which are mounted in the vehicle.
  • the detector 130 may detect the speed, acceleration, yaw rate and/or steering angle of a vehicle through a steering angle sensor, a speed sensor, a yaw rate sensor and/or an acceleration sensor.
  • the detector 130 obtains vehicle information from the ECUs such as an airbag system, a vehicle door system, an electronic stability control (ESC), a traction control system (TCS), an antilock brake system (ABS), and the like, via a vehicle network.
  • the vehicle network is implemented with Controller Area Network (CAN), Media Oriented Systems Transport (MOST) network, Local Interconnect Network (LIN), X-by-Wire (Flexray), or the like.
  • the user input device 140 may generate data according to a user's manipulation. For example, the user input device 140 generates data for turning on or off the function of the autonomous valet service in response to a user input.
  • the user input device 140 may be implemented with a keyboard, a keypad, a button, a switch, a touch pad, and/or a touch screen.
  • the memory 150 may store software programmed for the processor 180 to perform the predetermined operation.
  • the memory 150 may store map data, a navigation program, an algorithm for generating a waiting track, and the like.
  • the memory 150 may be implemented with at least one or more storage media (recording media) among a flash memory, a hard disk, a Secure Digital (SD) card, a Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable and Programmable ROM (EEPROM), an Erasable and Programmable ROM (EPROM), a register, a removable disc, web storage, and the like.
  • storage media recording media
  • a flash memory a hard disk
  • SD Secure Digital
  • RAM Random Access Memory
  • ROM Read Only Memory
  • EEPROM Electrically Erasable and Programmable ROM
  • EPROM Erasable and Programmable ROM
  • the vehicle controller 160 controls the autonomous driving of the vehicle under control of the processor 180 .
  • the vehicle controller 160 includes a driving controller 161 , a steering controller 162 , a shift controller 163 , and a brake controller 164 .
  • the driving controller 161 controls the acceleration of the vehicle 200 , as an actuator that controls engine of the vehicle.
  • the driving controller 161 may be implemented with an Engine Management System (EMS).
  • EMS Engine Management System
  • the driving controller 161 controls the driving torque of an engine depending on accelerator pedal location information output from an accelerator pedal location sensor.
  • the driving controller 161 controls the output of the engine to follow the driving speed of the vehicle requested by the processor 180 during autonomous driving.
  • the steering controller 162 may be implemented with a Motor Drive Power Steering (MDPS), as an actuator that controls the steering of the vehicle.
  • MDPS Motor Drive Power Steering
  • the steering controller 162 controls the steering angle of the vehicle under control of the processor 180 .
  • the shift controller 163 may be implemented with a Shift-By-Wire (SBW), as an actuator for controlling the transmission (shift) of the vehicle.
  • SBW Shift-By-Wire
  • the shift controller 163 controls the transmission of the vehicle depending on a gear location and a gear state range.
  • the brake controller 164 may be implemented with an Electronic Stability Control (ESC), as an actuator that controls the deceleration of the vehicle.
  • ESC Electronic Stability Control
  • the brake controller 164 controls the brake pressure for the purpose of following the target speed requested by the processor 180 during autonomous driving. That is, the brake controller 164 controls the deceleration of the vehicle.
  • the output device 170 may output information generated depending on the operation of the processor 180 and may include a display, a sound output module, a haptic module, and the like.
  • the display may include one or more of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a flexible display, a 3D display, a transparent display, head-up display (HUD), a touch screen, and a cluster.
  • LCD liquid crystal display
  • TFT LCD thin film transistor-liquid crystal display
  • OLED organic light-emitting diode
  • flexible display a flat panel
  • 3D display a transparent display
  • HUD head-up display
  • touch screen and a cluster.
  • the sound output module may output the audio data stored in the memory 150 .
  • the sound output module may include a receiver, a speaker, and/or a buzzer.
  • the haptic module outputs a signal of a type that the user can perceive with a tactile sense.
  • the haptic module may be implemented with a vibrator to control vibration intensity, a vibration pattern, and the like.
  • the processor 180 controls the overall operation of the autonomous valet service apparatus 100 .
  • the processor 180 may include at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Programmable Logic Devices (PLD), Field Programmable Gate Arrays (FPGAs), a Central Processing Unit (CPU), micro-controllers, and microprocessors.
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Signal Processor
  • PLD Programmable Logic Devices
  • FPGAs Field Programmable Gate Arrays
  • CPU Central Processing Unit
  • micro-controllers microprocessors.
  • the processor 180 enters an autonomous valet service mode in response to the user input that is input through the user input device 140 .
  • the processor 180 enters the autonomous valet service mode and then starts the autonomous valet service, when an autonomous valet service on is entered by a user.
  • the processor 180 verifies a vehicle location through the location measurement device 120 , when entering the autonomous valet service mode.
  • the processor 180 sets a waiting track (standby route) at the start of the autonomous valet service.
  • the waiting track refers to the route on which the vehicle is driving while standing by.
  • the processor 180 generates at least one or more circulation routes in which the verified vehicle location is a start point (reference) and a destination. In other words, the processor 180 generates the circulation route in which the vehicle starts the current location of the vehicle and then returns to the current location. At this time, the processor 180 generates the circulation route by using map data stored in the memory 150 .
  • the processor 180 calculates the time desired to drive along the respective generated circulation route. In other words, the processor 180 calculates the time to move from the start point to the destination of the respective generated circulation route. At this time, the processor 180 calculates the desired time in consideration of information about traffic conditions provided from the control server 300 .
  • the processor 180 sets the circulation route, the calculated time of which is the most similar to the set unit time (e.g., 30 minutes) to the waiting track.
  • the processor 180 determines the circulation route that returns to the start point for each set unit time, as a waiting track.
  • the processor 180 generates at least one or more circulation routes in which the vehicle starts at a current location (X1, Y1) and then returns to the current location (X1, Y1), as follows, when the vehicle is located at the current location (X1, Y1) and the unit time is 40 minutes.
  • the processor 180 determines that a circulation route, along which a time desired to move is the most similar to the unit time of 40 minutes, from among the generated at least one or more circulation routes is a final circulation route (waiting track). As illustrated in the first circulation route, the processor 180 avoids a circulation route through U-turn, when determining the final circulation route.
  • the processor 180 selects one circulation route among the second circulation route and the third circulation route, in each of which the vehicle starts at the current location (X1, Y1) and then returns to the current location (X1, Y1) after 40 minutes, as the waiting track. At this time, the processor 180 determines the final circulation route by prioritizing the route with the shortest movement distance among the second circulation route and the third circulation route.
  • the processor 180 obtains the waiting track from the map data based on the verified vehicle location and then and sets the waiting track.
  • the map data may include the predetermined waiting track information.
  • the processor 180 downloads the waiting track information through scanning a barcode or a Quick Response (QR) code by using an image sensor or a scanner to set the waiting track information.
  • the waiting track information includes information such as information about track coordinates, track entrance coordinates, track exit coordinates, and a driving direction.
  • the processor 180 controls the vehicle controller 160 such that the vehicle drives autonomously along the waiting track when the setting of the waiting track is completed.
  • the processor 180 controls the autonomous driving of the vehicle, based on the vehicle peripheral information and the vehicle state information detected through the detector 130 .
  • the processor 180 stands by while performing the autonomous driving of the vehicle along the waiting track.
  • the processor 180 measures a vehicle location through the location measurement device 120 in real time to transmit the measured vehicle location to the user terminal 200 . Accordingly, a user may verify the vehicle location through the user terminal 200 in real time.
  • the user terminal 200 calculates a time required for the vehicle to move along the circulation route (the waiting track) from the current location (a vehicle location) to a user's location and then displays the required time.
  • the processor 180 may transmit the vehicle location measured through the location measurement device 120 , to the control server 300 .
  • the control server 300 verifies vehicle coordinates in the waiting track, by using the vehicle location.
  • the control server 300 transmits the verified vehicle coordinates to the vehicle.
  • the processor 180 may determine whether there is a user call, through the communication device 110 when the vehicle autonomously drives on the waiting track.
  • the processor 180 receives a call command (a call signal) transmitted from the user terminal 200 , through the communication device 110 .
  • the processor 180 verifies vehicle location in the waiting track and information about the waiting track, through the control server 300 when receiving the user call.
  • the processor 180 calculates the movement time to a pickup location, based on the verified vehicle location.
  • the processor 180 calculates an expected time to arrive at the pickup location, based on the calculated movement time to transmit the expected time to the user terminal 200 .
  • the processor 180 controls the vehicle controller 160 to move the vehicle to the pickup location.
  • the pickup location may be set to one of the user's current location, a location designated by the user, the predetermined location, and the exit location of the waiting track.
  • FIG. 4 is a flowchart illustrating an autonomous valet service method, according to an exemplary form of the present disclosure.
  • FIG. 5 is a flowchart illustrating a procedure of setting a waiting track illustrated in FIG. 4 .
  • the processor 180 of the autonomous valet service apparatus 100 enters an autonomous valet service mode.
  • the processor 180 enters the autonomous valet service mode to start an autonomous valet service, when a command of autonomous valet service on is input from the user input device 140 .
  • the processor 180 After entering the autonomous valet service mode, in operation S 120 , the processor 180 sets a waiting track.
  • the processor 180 sets a unit time.
  • the unit time may be set by default in advance or may be set arbitrarily by a user.
  • the processor 180 obtains the current location of a vehicle through the location measurement device 120 .
  • the processor 180 generates at least one or more circulation routes in each of which the current location of the vehicle is a start point or a destination. At this time, the processor 180 generates the circulation route by using map data stored in the memory 150 .
  • the processor 180 selects one circulation route among at least one or more circulation routes as the waiting track based on the unit time.
  • the processor 180 calculates a time desired to move along the generated respective circulation routes and determines that a circulation route, along which a time desired to move is the most similar to the unit time, is the final circulation route (the waiting track).
  • One form is exemplified as the processor 180 selects one among the generated at least one or more circulation routes to set a waiting track.
  • an exemplary form of the present disclosure is not limited thereto.
  • the user selects one of the at least one or more circulation routes as the waiting track.
  • the processor 180 performs autonomous driving of the vehicle along the set waiting track. At this time, after determining that the occupant in the vehicle gets off, the processor 180 performs the autonomous driving.
  • the processor 180 may determine that the occupant gets down, through a sensor (e.g., a pressure sensor mounted on the seat) mounted in the vehicle.
  • the processor 180 measures a vehicle location through the location measurement device 120 to transmit the vehicle location to the user terminal 200 and the control server 300 .
  • the processor 180 may determine whether a user call is received, while performing the autonomous driving.
  • the user may call the vehicle to a pickup location through the user terminal 200 .
  • the user may designate the pickup location.
  • the processor 180 obtains a vehicle location in a waiting track and track information, when the user call is received.
  • the track information may include a vehicle driving speed in a track, whether there is a vehicle entering a track, the number of vehicles in a track, and the like.
  • the processor 180 may verify not only the vehicle location but also the user pickup location when there is a call from the user terminal 200 .
  • the processor 180 calculates the movement time to the pickup location, based on the vehicle location in the waiting track. For example, the processor 180 adds a time period, during which the vehicle arrives from the current location to the exit location of the waiting track or the destination, to a time period during which the vehicle arrives from the exit location of the waiting track or the destination to the pickup location to calculate the movement time.
  • the processor 180 calculates an expected time to arrive at a pickup location, based on the calculated movement time to transmit the expected time to arrive at a pickup location.
  • the processor 180 adds the calculated movement time to a current time to calculate the expected time to arrive at the pickup location.
  • the processor 180 moves the vehicle to the pickup location through the autonomous driving.
  • the processor 180 controls the vehicle controller 160 to move the vehicle to the pickup location.
  • the present disclosure allows a vehicle to set a waiting track and to stand by while driving autonomously on the waiting track, while a driver treats his/her task, thereby saving time for entering a parking lot and parking time.

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US16/170,339 2018-08-09 2018-10-25 Autonomous valet service apparatus and method Abandoned US20200049519A1 (en)

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